subsystemthread.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCAICE_SUBSYSTEM_THREAD_H
00012 #define ORCAICE_SUBSYSTEM_THREAD_H
00013 
00014 #include <orcaice/substatusthread.h>
00015 
00016 namespace orcaice {
00017 
00046 class SubsystemThread : public orcaice::SubstatusThread
00047 {
00048 public: 
00050     SubsystemThread( gbxutilacfr::Tracer& tracer, gbxutilacfr::Status& status, const std::string& subsysName="SubsystemThread" );
00051     virtual ~SubsystemThread() {};
00052 
00053 protected:
00054     // implementation note: FSM actions need to be protected so that the derived class
00055     // can call them without re-implementing.
00056 
00059     virtual void initialise() {};
00060     
00063     virtual void work() {};
00064 
00067     virtual void finalise() {};
00068 
00069 private:
00070     // from SubstatusThread
00071     void walk();
00072 
00073 };
00075 typedef IceUtil::Handle<SubsystemThread> SubsystemThreadPtr;
00076 
00077 }
00078 
00079 #endif